無人載具水下結構物外型追蹤控制器設計之研究

Underwater Structure Profile Following Controller for Unmanned Vehicles

施銓熙(Cyuan-Si Shih)

指導教授 ： 郭振華

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2008年)

https://doi.org/10.6342/NTU.2008.10617

摘要

無人載具免除了人們存在於危險的水下工作環境中。本研究的目的使用無人載具觀測防波提，根據載具的位置及前方的測距聲纳所量測到的資訊，設計導航器、路徑追蹤控制器以及規劃參考路徑的演算法。導航器的設計根據所定義的追蹤誤差量，然後結合所設計的控制器使誤差收斂為零。載距運動控制器設計採用比例微分型。根據載具測距聲納量測到的結構物外型，提出即時規劃載具之追隨參考路徑的演算法，以及為了確保規劃的路徑是平順的，參考路徑使用 B-spline 擬合。載具性能響應的探討，提出了一個結合導航器與方向控制器的非線性動態系統，建立結構物與載具相對距離、控制系統增益數值與路徑追蹤系統響應之關係，此系統對於載具的穩定性存在一個臨界的追蹤距離。最後，針對所提出之路徑規劃、路徑追蹤與運動控制系統之全系統架構，實際應用於無人水下載具水下結構物觀測之作業。

關鍵字

路徑規劃 ； 導航控制 ； 參數鑑定 ； 水下載具 ； 水下檢測

並列摘要

Unmanned underwater vehicles eliminate the need for human physical presence that reduces human exposure in hazardous environment. Therefore, this study addresses the problem of designing a guidance and path-following controller for unmanned underwater vehicles that takes into account the reference path ahead of the vehicle. The guidance system is designed based on the definition of a tracking error vector which is to be driven to zero by the tracking controller. The controlled vehicle is able to construct the reference path and track the reference path automatically. To increase the path-following performance, an analysis of the nonlinear dynamic characteristics of guidance coupled with orientation control law has been presented. There exist a critical waypoint distance for stability of vehicle motion. Moreover, an algorithm developed to build the reference path has been proposed according to the echo-sounder mounted ahead of the vehicle. Finally, the control system was tested by extensive sea trials using an unmanned underwater vehicle. The experimental results demonstrated a high-performance path-following robotic system for underwater structure inspection.

並列關鍵字

path-following ； guidance ； parameter identification ； underwater vehicles, underwater inspection

參考文獻

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